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<div class="title">point_coding.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2011-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef POINT_COMPRESSION_H</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define POINT_COMPRESSION_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;iterator&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;string.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;stdio.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;string.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keyword">namespace </span>octree</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_point_coding.html">   59</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1octree_1_1_point_coding.html">PointCoding</a></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <span class="comment">// public typedefs</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;PointCloud&gt; PointCloudPtr;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const PointCloud&gt; PointCloudConstPtr;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_point_coding.html#a0161e68dd81ecdc9821939df5f9bdd73">   68</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a0161e68dd81ecdc9821939df5f9bdd73">PointCoding</a> () :</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#ab53ffd903e4f3d404d721b208c16463a">output_</a> (), <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a08c506e4d96db0b3877b1fcfe5ff9140">pointDiffDataVector_</a> (), <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#ab23948d3c52a60920b407fbd9fca5d66">pointDiffDataVectorIterator_</a> (), </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a181174a3f1046e3045206fd38bfba007">pointCompressionResolution_</a> (0.001f) <span class="comment">// 1mm</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        {</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        }</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keyword">virtual</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_point_coding.html#a8e04cd6d6b7a082742e749751c59f003">   76</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a8e04cd6d6b7a082742e749751c59f003">~PointCoding</a> ()</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        {</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        }</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_point_coding.html#adc08f54d6fa3d0d011dfe23844bd5ffb">   84</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#adc08f54d6fa3d0d011dfe23844bd5ffb">setPrecision</a> (<span class="keywordtype">float</span> precision_arg)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a181174a3f1046e3045206fd38bfba007">pointCompressionResolution_</a> = precision_arg;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        }</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_point_coding.html#a413a6e798eab425484bd6e3554ac781e">   93</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a413a6e798eab425484bd6e3554ac781e">getPrecision</a> ()</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a181174a3f1046e3045206fd38bfba007">pointCompressionResolution_</a>);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_point_coding.html#ab060975b8f073cafe3162c6df671ec52">  102</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#ab060975b8f073cafe3162c6df671ec52">setPointCount</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> pointCount_arg)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        {</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a08c506e4d96db0b3877b1fcfe5ff9140">pointDiffDataVector_</a>.reserve (pointCount_arg * 3);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        }</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_point_coding.html#a07f8409110ccf95dc956bd3fa66ce2d5">  109</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a07f8409110ccf95dc956bd3fa66ce2d5">initializeEncoding</a> ()</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        {</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a08c506e4d96db0b3877b1fcfe5ff9140">pointDiffDataVector_</a>.clear ();</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        }</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_point_coding.html#a301c00a268534360e3b99493b3e05477">  116</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a301c00a268534360e3b99493b3e05477">initializeDecoding</a> ()</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        {</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#ab23948d3c52a60920b407fbd9fca5d66">pointDiffDataVectorIterator_</a> = <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a08c506e4d96db0b3877b1fcfe5ff9140">pointDiffDataVector_</a>.begin ();</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        std::vector&lt;char&gt;&amp;</div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_point_coding.html#a2b7fee0f682b1ad1a6652694090614f1">  123</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a2b7fee0f682b1ad1a6652694090614f1">getDifferentialDataVector</a> ()</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        {</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a08c506e4d96db0b3877b1fcfe5ff9140">pointDiffDataVector_</a>);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_point_coding.html#a231c7d289e73e3c920639c853a600758">  134</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a231c7d289e73e3c920639c853a600758">encodePoints</a> (<span class="keyword">const</span> <span class="keyword">typename</span> std::vector&lt;int&gt;&amp; indexVector_arg, <span class="keyword">const</span> <span class="keywordtype">double</span>* referencePoint_arg,</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;                      PointCloudConstPtr inputCloud_arg)</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        {</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;          std::size_t i, len;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;          len = indexVector_arg.size ();</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;          <span class="comment">// iterate over points within current voxel</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;          <span class="keywordflow">for</span> (i = 0; i &lt; len; i++)</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;          {</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;            <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> diffX, diffY, diffZ;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;            <span class="comment">// retrieve point from cloud</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; idx = indexVector_arg[i];</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;            <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; idxPoint = inputCloud_arg-&gt;points[idx];</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;            <span class="comment">// differentially encode point coordinates and truncate overflow</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;            diffX = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (max (-127, min&lt;int&gt;(127, <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> ((idxPoint.x - referencePoint_arg[0])  / <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a181174a3f1046e3045206fd38bfba007">pointCompressionResolution_</a>))));</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;            diffY = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (max (-127, min&lt;int&gt;(127, <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> ((idxPoint.y - referencePoint_arg[1])  / <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a181174a3f1046e3045206fd38bfba007">pointCompressionResolution_</a>))));</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;            diffZ = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (max (-127, min&lt;int&gt;(127, <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> ((idxPoint.z - referencePoint_arg[2])  / <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a181174a3f1046e3045206fd38bfba007">pointCompressionResolution_</a>))));</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;            <span class="comment">// store information in differential point vector</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a08c506e4d96db0b3877b1fcfe5ff9140">pointDiffDataVector_</a>.push_back (diffX);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a08c506e4d96db0b3877b1fcfe5ff9140">pointDiffDataVector_</a>.push_back (diffY);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a08c506e4d96db0b3877b1fcfe5ff9140">pointDiffDataVector_</a>.push_back (diffZ);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;          }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        }</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_point_coding.html#abb223cd5e0748e82b09e366cc3c019d5">  169</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#abb223cd5e0748e82b09e366cc3c019d5">decodePoints</a> (PointCloudPtr outputCloud_arg, <span class="keyword">const</span> <span class="keywordtype">double</span>* referencePoint_arg, std::size_t beginIdx_arg,</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;                      std::size_t endIdx_arg)</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;          std::size_t i;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> pointCount;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;          assert (beginIdx_arg &lt;= endIdx_arg);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;          pointCount = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (endIdx_arg - beginIdx_arg);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;          <span class="comment">// iterate over points within current voxel</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;          <span class="keywordflow">for</span> (i = 0; i &lt; pointCount; i++)</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;          {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;            <span class="comment">// retrieve differential point information</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>&amp; diffX = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (*(<a class="code" href="classpcl_1_1octree_1_1_point_coding.html#ab23948d3c52a60920b407fbd9fca5d66">pointDiffDataVectorIterator_</a>++));</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>&amp; diffY = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (*(<a class="code" href="classpcl_1_1octree_1_1_point_coding.html#ab23948d3c52a60920b407fbd9fca5d66">pointDiffDataVectorIterator_</a>++));</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>&amp; diffZ = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (*(<a class="code" href="classpcl_1_1octree_1_1_point_coding.html#ab23948d3c52a60920b407fbd9fca5d66">pointDiffDataVectorIterator_</a>++));</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;            <span class="comment">// retrieve point from point cloud</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;            <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point = outputCloud_arg-&gt;points[beginIdx_arg + i];</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;            <span class="comment">// decode point position</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;            point.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (referencePoint_arg[0] + diffX * <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a181174a3f1046e3045206fd38bfba007">pointCompressionResolution_</a>);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;            point.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (referencePoint_arg[1] + diffY * <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a181174a3f1046e3045206fd38bfba007">pointCompressionResolution_</a>);</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;            point.z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (referencePoint_arg[2] + diffZ * <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a181174a3f1046e3045206fd38bfba007">pointCompressionResolution_</a>);</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;          }</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        }</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_point_coding.html#ab53ffd903e4f3d404d721b208c16463a">  199</a></span>&#160;        PointCloudPtr <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#ab53ffd903e4f3d404d721b208c16463a">output_</a>;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_point_coding.html#a08c506e4d96db0b3877b1fcfe5ff9140">  202</a></span>&#160;        std::vector&lt;char&gt; <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a08c506e4d96db0b3877b1fcfe5ff9140">pointDiffDataVector_</a>;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_point_coding.html#ab23948d3c52a60920b407fbd9fca5d66">  205</a></span>&#160;        std::vector&lt;char&gt;::const_iterator <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#ab23948d3c52a60920b407fbd9fca5d66">pointDiffDataVectorIterator_</a>;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_point_coding.html#a181174a3f1046e3045206fd38bfba007">  208</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a181174a3f1046e3045206fd38bfba007">pointCompressionResolution_</a>;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    };</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  }</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;}</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_ColorCoding(T) template class PCL_EXPORTS pcl::octree::ColorCoding&lt;T&gt;;</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_point_coding_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_point_coding.html">pcl::octree::PointCoding</a></div><div class="ttdoc">PointCoding class</div><div class="ttdef"><b>Definition:</b> point_coding.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_point_coding_html_a0161e68dd81ecdc9821939df5f9bdd73"><div class="ttname"><a href="classpcl_1_1octree_1_1_point_coding.html#a0161e68dd81ecdc9821939df5f9bdd73">pcl::octree::PointCoding::PointCoding</a></div><div class="ttdeci">PointCoding()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> point_coding.h:68</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_point_coding_html_a07f8409110ccf95dc956bd3fa66ce2d5"><div class="ttname"><a href="classpcl_1_1octree_1_1_point_coding.html#a07f8409110ccf95dc956bd3fa66ce2d5">pcl::octree::PointCoding::initializeEncoding</a></div><div class="ttdeci">void initializeEncoding()</div><div class="ttdoc">Initialize encoding of differential point</div><div class="ttdef"><b>Definition:</b> point_coding.h:109</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_point_coding_html_a08c506e4d96db0b3877b1fcfe5ff9140"><div class="ttname"><a href="classpcl_1_1octree_1_1_point_coding.html#a08c506e4d96db0b3877b1fcfe5ff9140">pcl::octree::PointCoding::pointDiffDataVector_</a></div><div class="ttdeci">std::vector&lt; char &gt; pointDiffDataVector_</div><div class="ttdoc">Vector for storing differential point information</div><div class="ttdef"><b>Definition:</b> point_coding.h:202</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_point_coding_html_a181174a3f1046e3045206fd38bfba007"><div class="ttname"><a href="classpcl_1_1octree_1_1_point_coding.html#a181174a3f1046e3045206fd38bfba007">pcl::octree::PointCoding::pointCompressionResolution_</a></div><div class="ttdeci">float pointCompressionResolution_</div><div class="ttdoc">Precision of point coding</div><div class="ttdef"><b>Definition:</b> point_coding.h:208</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_point_coding_html_a231c7d289e73e3c920639c853a600758"><div class="ttname"><a href="classpcl_1_1octree_1_1_point_coding.html#a231c7d289e73e3c920639c853a600758">pcl::octree::PointCoding::encodePoints</a></div><div class="ttdeci">void encodePoints(const typename std::vector&lt; int &gt; &amp;indexVector_arg, const double *referencePoint_arg, PointCloudConstPtr inputCloud_arg)</div><div class="ttdoc">Encode differential point information for a subset of points from point cloud</div><div class="ttdef"><b>Definition:</b> point_coding.h:134</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_point_coding_html_a2b7fee0f682b1ad1a6652694090614f1"><div class="ttname"><a href="classpcl_1_1octree_1_1_point_coding.html#a2b7fee0f682b1ad1a6652694090614f1">pcl::octree::PointCoding::getDifferentialDataVector</a></div><div class="ttdeci">std::vector&lt; char &gt; &amp; getDifferentialDataVector()</div><div class="ttdoc">Get reference to vector containing differential color data</div><div class="ttdef"><b>Definition:</b> point_coding.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_point_coding_html_a301c00a268534360e3b99493b3e05477"><div class="ttname"><a href="classpcl_1_1octree_1_1_point_coding.html#a301c00a268534360e3b99493b3e05477">pcl::octree::PointCoding::initializeDecoding</a></div><div class="ttdeci">void initializeDecoding()</div><div class="ttdoc">Initialize decoding of differential point</div><div class="ttdef"><b>Definition:</b> point_coding.h:116</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_point_coding_html_a413a6e798eab425484bd6e3554ac781e"><div class="ttname"><a href="classpcl_1_1octree_1_1_point_coding.html#a413a6e798eab425484bd6e3554ac781e">pcl::octree::PointCoding::getPrecision</a></div><div class="ttdeci">float getPrecision()</div><div class="ttdoc">Retrieve precision of point information</div><div class="ttdef"><b>Definition:</b> point_coding.h:93</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_point_coding_html_a8e04cd6d6b7a082742e749751c59f003"><div class="ttname"><a href="classpcl_1_1octree_1_1_point_coding.html#a8e04cd6d6b7a082742e749751c59f003">pcl::octree::PointCoding::~PointCoding</a></div><div class="ttdeci">virtual ~PointCoding()</div><div class="ttdoc">Empty class constructor.</div><div class="ttdef"><b>Definition:</b> point_coding.h:76</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_point_coding_html_ab060975b8f073cafe3162c6df671ec52"><div class="ttname"><a href="classpcl_1_1octree_1_1_point_coding.html#ab060975b8f073cafe3162c6df671ec52">pcl::octree::PointCoding::setPointCount</a></div><div class="ttdeci">void setPointCount(unsigned int pointCount_arg)</div><div class="ttdoc">Set amount of points within point cloud to be encoded and reserve memory</div><div class="ttdef"><b>Definition:</b> point_coding.h:102</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_point_coding_html_ab23948d3c52a60920b407fbd9fca5d66"><div class="ttname"><a href="classpcl_1_1octree_1_1_point_coding.html#ab23948d3c52a60920b407fbd9fca5d66">pcl::octree::PointCoding::pointDiffDataVectorIterator_</a></div><div class="ttdeci">std::vector&lt; char &gt;::const_iterator pointDiffDataVectorIterator_</div><div class="ttdoc">Iterator on differential point information vector</div><div class="ttdef"><b>Definition:</b> point_coding.h:205</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_point_coding_html_ab53ffd903e4f3d404d721b208c16463a"><div class="ttname"><a href="classpcl_1_1octree_1_1_point_coding.html#ab53ffd903e4f3d404d721b208c16463a">pcl::octree::PointCoding::output_</a></div><div class="ttdeci">PointCloudPtr output_</div><div class="ttdoc">Pointer to output point cloud dataset.</div><div class="ttdef"><b>Definition:</b> point_coding.h:199</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_point_coding_html_abb223cd5e0748e82b09e366cc3c019d5"><div class="ttname"><a href="classpcl_1_1octree_1_1_point_coding.html#abb223cd5e0748e82b09e366cc3c019d5">pcl::octree::PointCoding::decodePoints</a></div><div class="ttdeci">void decodePoints(PointCloudPtr outputCloud_arg, const double *referencePoint_arg, std::size_t beginIdx_arg, std::size_t endIdx_arg)</div><div class="ttdoc">Decode differential point information</div><div class="ttdef"><b>Definition:</b> point_coding.h:169</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_point_coding_html_adc08f54d6fa3d0d011dfe23844bd5ffb"><div class="ttname"><a href="classpcl_1_1octree_1_1_point_coding.html#adc08f54d6fa3d0d011dfe23844bd5ffb">pcl::octree::PointCoding::setPrecision</a></div><div class="ttdeci">void setPrecision(float precision_arg)</div><div class="ttdoc">Define precision of point information</div><div class="ttdef"><b>Definition:</b> point_coding.h:84</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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